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According to the error message

std::exception::what: std::bad_cast\n[canopen::tag_objectdict_key*] = 6061sub0

there is a problem with object 6061. As I have written somewhere else your EDS seems to list the wrong datatype. ros_canopen enforces strict typing. The CANopen 402 standard lists datatype "Integer8", so the EDS should look like

[6061]
ParameterName=modes_of_operation_display
ObjectType=0x7
DataType=0x0002
AccessType=ro
PDOMapping=1

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